DEVICE JOINT

The internal device JOINT is achieved to manage multiple axes (max. 3) in linear interpolation connected. The interpolation is done through tiny movements determined by programmed points.
You can also move the axes individually and execute the homing procedure. The placement of axes runs under a P.I.D. reaction control that guarantees the accuracy by reducing the tracking error.

In the configuration unit, the BUS section must be declared so that you have the hardware resources necessary for the use of the JOINT device.
There must be at least a bi-directional counter and an analog output implemented with 16-bit resolution DAC. The device can also use a digital input and a digital input for interruption for homing operation.
In the INTDEVICE section of the configuration unit must be add the following definition:

;---------------------------------
;  Internal device declaration
;---------------------------------
INTDEVICE
..
<device_name> JOINT TCamp  NAxis Buffer 
                    IContX IntLX IAZeroX IoutAX
                    IContY IntLY IAZeroY IoutAY
                    IContZ IntLZ IAZeroZ IoutAZ
                    IOut1  IOut2 IOut3 IOut4

Where:

	Attention: It is necessary that each definition are present on the same line. In case you do not want to assign a resource, such as IAZeroX, you must enter in the appropriate field the X.X string

The JOINT device adds to the capabilities of analog positioner EANPOS (see see the documentation for more details) the possibility to make a movement interpolated axes (max. 3). By this we mean that you get a chance, using the axes, to execute a movement from one point in space (3 dimensions) to another along a line (not necessarily straight line) or a preset path.
Moreover, the device can calculate a fillet between two lines with different slopes according to some programmable modes.

The device includes a trajectory-generating function (also called velocity profile). This generates a piece of information that is appropriately converted to a proportional voltage signal via the analog output to operate the motor and therefore the axis connected to bring it to the desired position.
If the motor system was ideal would follow perfectly the velocity profile created and you would bring to the position given by the integral of the velocity profile. Actually this doesn't happen and you need to top it all with a chain of feedback. The transducer that detects the position of the axis is typically digital, typically an encoder (we'll call it always bi-directional meter).

The information provided by the transducer is used to make a comparison between the current position and the theoretical position. This comparison allows to know the current error and the PID controller can use this information to modify the output and get the error condition zero. The regulator used implements four types of actions. The block diagram of the regulator is as follows:

The output PID + FF controller is a value between -32768 and 32767. This is used by the analogue output to generate the adjusting voltage. Typically the analogue output is implemented by a DAC device that converts the digital information in a tension between -10 Volt and +10 Volt. For every action the regulator calculates a coefficient inside to ensure that the value generated has a significant for the analog output.

This control action establishes a relationship of direct proportionality between the tracking error (follerr) and the output value to the controller. The parameter proportional gain pgain (user-settable) defines the degree of proportional controller; It is expressed in milliseconds for which to set a gain of 0.5 you should enter the value 500.
The rule establishing the output value (propreg) is: with unitarian gain (pgain), the control output will be maximum when the tracking error is equal to the space that is executing the axis at the maximum speed in a sampling time of the device. It is important to note that due to the rule that you just described, there is a link between the proportional and the sampling time of the device. Also note that when the error is null even proportional control output is nothing.

The integral controller of PID controller calculates the integral of position error on a time interval user-settable with integt parameter (expressed in ms). The output signal is updated in a particular way: whenever the supplement from an output value that is added to the value that is on the register, then it will continue to increase or decrease (depending on the sign of the error). The output value is calculated as follows: with unit proportional gain, the integration time (integt) is the time it takes for the output (intreg) reaches the proportional output value (propreg). From this last statement shows that the integral action is related to the proportional controller.

The derivative action “anticipates” the system behavior of the system being monitored. The output produced is proportional to the change of the input signal (that is the position error). The magnitude of the derivative effect is adjustable via the parameter time derivative derivt. Computing the derivative action is based on the following convention: the derivative time is the time it takes for error constant variation, the derivative output (derreg parameter) reaches a value equal to the proportional output. As for the integral action shows that even for the derivative action is there a link with the proportional action. More higher the time of derivation of error and more faster the transient error recovery system. It is evident that the derivative action may never be used alone because in the presence of constant mistakes its effect would be null.

In summary: the proportional action has the effect of increasing the rate of reaction of the system, it also reduces, but does not completely eliminate, the error. The integral action leads to clear the error, but lengthens the transitional times. Derivative control increases the stability of the system, reducing overshoot and reducing transitional times.

In addition to the PID controller There is also then feed-forward actio: It generates an output proportional to the value of theoretical speed determined by the trajectory generator (as you can tell from the name doesn't exploit any tracking error feedback). Its function is to reduce the system response time by providing a release already nearby to that which provides the speed profile. The contribution of this action is adjustable via the feedfw parameter: This parameter is expressed as a portion of millesimal theoretical speed (so to introduce, for example, 98.5% it's necessary set the 985 value).

This chapter describes the method by which the device searches the home position (also called zero axis or mark point). There are various ways to do this research and these use different movements and hardware resources.

Homing function must be properly configured before it is used. In particular the prsmode parameter defines the way in which the device searches the home position. This parameter also defines the hardware resources necessary to search and how to move. You must then configure the search speed. Typically an high speed (expressed from the prsvel parameter) is used to search for the activation of the enable input and a lower speed (expressed from the sprsvel parameter) is used to search the home position. Can be derived from the zero of the bi-directional counter or from the disable of the enable digital input.

We illustrate now the various ways to search for the location of home:

This mode involves the movement of axis and only enabling digital input. To the deactivation of the digital input the location of the axis takes the value in the prspos parameter. You later disable the st_prson state and enable the st_prsok state to report the end of search. This state remains active until launching a new search procedure.

In the picture it was shown the function pirnciple highlighting the differences in the case of opposite directions of motion.

This mode involves the movement of the axis and the additional use of the bidirectional counter zero. To the deactivated of the enable digital input is enable the reading of the first enable of the zero input and on this signal the position of the axis takes the value in the prspos parameter. You later disable the st_prson status and is active the st_prsok state to signal the end of search. This state remains active until launching a new search procedure.

In the picture is shown the operating principle of highlighting the differences in the case of opposite directions of motion

This mode does not provide for the moving of the axis and uses only the enabling digital input. If the input is activated, the position of the axis takes the value in the prspos parameter.

• When you set the search speed of the zero (sprsvel parameter) we must consider that the mode 0 the input has a hardware filter that delays the acquisition and so this delay affects the accuracy of the loading. In mode 1 instead acquiring execute on digital input for interruption and the speed of the movement is not determinative. But we must ensure that the operating time of the zero-pulse is sufficient to be acquired from the input. To know the times of acquisition of digital inputs and the minimum time zero pulse signal refer to the technical documentation of the used cards. • If during the first movement of research of the enable input (executed at the prsvel speed) is given again the PRESET command, the direction of movement is inverted. • After loading the homing offset in the current position, automatically commanded a placement at the homing offset quota.

	When moving home positioning the maxpos and minpos software limits aren't enabled.

The PRESET and RSPRSOK commands manage the homing function. The first must be used to initiate a search of the home position or to reverse the direction of research during the first movement at prsvel speed. The second command should be used instead to clear the st_prsok state. This state can be used by the application to know if a homing function has been completed successfully. The RSPRSOK command it can be used in the case that intervening events that invalidate the current position value (for example a break of the bi-directional counter, manual introduction of a value in the current position). The application (that monitorize the st_prsok state) will require a new homing search.
The st_prson state should be used to determine if the function is active homing. The st_still state cannot be used because the movement is composed of multiple placements and this state would indicate stationary axis at the end of each movement.

See the states chart:

The prspos parameter should be used to express the distance between home and the location where the homing function. If they match then the parameter should be set to zero. See a chart:

Normally the posit and encoder parameters represent the absolute position of the axis. There are some applications where these parameters must represent a relative information. These can be for example circular axes (posit must express an angular size) or a valve controller to the respective quotas. To make posit information relating you must edit its value; Although there is the possibility of writing to that parameter, the operation is not recommended for two reasons:

• because the actual position of the axis is always influenced by tracking error
• because the current location can be one of the many intermediate positions between a unit of measure and the subsequent

To do this there is the DELCNT command that allows you to change the posit a value that can be set with delcnt parameter.
For example, suppose you have configured pulse and measure so that the location is expressed in tenths of a degree. If posit expresses the angular position and we want this is always between zero and 360 degrees we should add the following code:

IF Axis:posit GE 3600
  Axis:delcnt = -3600
  DELCNT Axis
ENDIF

It is wrong to use the following code:

IF Axis:posit GE 3600
  Axis:posit = Axis:posit - 3600
ENDIF

For the conditions of execution of the command, see the decriptions.
The DELCNT command function is assured even in the event that a unit of measure is not expressible in a finite number of impulses. For example with the measure = 1000 and pulse = 1024 parameters, the value 3600 in the preceding example corresponds to 3686.4 pulses. Thanks to a sophisticated algorithm inside the device fails to consider the fractional part of this value and through internal batteries it becomes part of the information used to change the posit valuee.

For example, the following setting: pulse = 10, measure = 1. For example the reading of the position of the axis is 2 and you are at point A. You want to add to the position posit two units of measure.
With instructions:

Axis:posit = Axis:posit + 2

the axis takes the new position B.
With instructions:

Axis:delta = 2
DELCNT Axis

C position is reached.

Note that if you change it directly the posit without using the delta function (as in the first example) an error is introduced.

	Se si devono inviare comandi DELCNT in successione, è conveniente calcolare la grandezza da sommare ed inviare una sola volta il comando. Se ciò non fosse possibile bisogna prestare attenzione a non inviare comandi successivi senza interporre una istruzione di lettura su parametro device. Esempio: Axis:delta = 3 DELCNT Axis WAIT Axis:delta Axis:delta = 40 DELCNT Axis

The device allows a positioning by connecting pairs of points with fees and making the connection by changing the slope of the first line to reach the slope of the second line. Doing it this way you will calculate a curve that join without being hard moved and trajectories of two lines. An example is shown in picture.

The device in this situation generates two trajectories that will merge together between a line and the other. To obtain a greater homogeneity of the resulting movement was chosen to keep the acceleration and deceleration time equal to each axis, programmable with a single variable. Otherwise it could happen that the resulting trajectory is what you want.
If the coordinates exceed maximum and minimum dimensions set as the limit of the axes, the system will position itself on these limits.
If you make the connections so you get circular figures, It is good to set mxlrvelASSE variables equal to prevent various interpolation between the limits of speed mxlrvel of any axes.

Note: What has been described is also valid for three-axis movement.

When positioning you can vary the speed of interpolation without affecting the location to get to. This operation can lead to an increase or a decrease in the speed of each axis: If an axis reaches its maximum limit, then the overall speed of interpolation may not exceed.
The change of speed is not said to occur immediately, but only when all conditions are met.

Also the acceleration/deceleration time of the interpolation (tacci) is subject to the limits imposed by the various axes: It must be equal to or greater than the maximum acceleration and deceleration time of all axes.

The device, When enable make a movement interpolation using the STARTPRG command, uses the program Buffer containing axes coordinates for points that need to be connected.
The introduction of quotas can occur both in absolute or incremental forms, compared to the previous position (setposAXIS), depending on the choice of the prgmode parameter.

For each program step is also a code variable whose values are between 0 and 65536.
The meaning of the variable code is shown in the following table:

For start interpolation, use the STARTI or STARTPRG commands, requires that the following conditions are met by departure:

• the unitvelASSE and decptAXIS parameters to interpolate axes must be equal
• the axes should not be in an emergency: st_emrgAXIS = 0
• the axes must be in stop: st_stillAXIS = 1
• the axes not be in calibration: st_calAXIS = 0
• the axes should not be looking for homing: st_prsonAXIS = 0

Name	Dimension	Default value	Access type	Unit of measure	Valid range	Write conditions	Description
measurex	Long	Retentive	RW	Um	1÷999999	st_ipolar = 0, st_prsonx = 0, st_stillx = 1	Reference measure for calculating the conversion factor between primary impulses and units for X axis Indicates the space, in unit of measure, covered by the X axis to obtain primary pulses set in pulsex parameter. This parameter is used for calculate the conversion factor between primary pulses and units of measure. positx = encoderx * measurex / pulsex The relationship measurex/pulsex must be have a value between 0.00935 and 1.
pulsex	Long	Retentive	RW	-	1÷999999	st_ipolar = 0, st_prsonx = 0, st_stillx = 1	Number of pulses for calculating the conversion factor between primary pulses and units of measure for X axis Indicates the number of pulses that will generate the bidirectional transducer to get a movement of measurex. This parameter is used to calculate the conversion factor between primary pulses and units of measure. positx = encoderx * measurex / pulsex The relationship measurex/pulsex must be a value between 0.00935 and 1.
decptx	Byte	Retentive	RW	-	0÷3	st_ipolar = 0, st_prsonx = 0, st_stillx = 1	Choice of the unit of measurement of the speed of the X axis The speed unit depends on the unitvelx and decptx parameters. Through decptx determines whether setting the values of speed in multiples of the fundamental units Um. For example, if the fundamental unit of measure Um=mm, and unitvel=1 you get the speed indicator in the vel variable in: mm/s (with decpt = 0), cm/s (with decpt = 1), dm/s (with decpt = 2), m/s (with decpt = 3).
unitvelx	Byte	Retentive	RW	-	0÷1	st_ipolar = 0, st_prsonx = 0, st_stillx = 1	The time unit for the speed calculation Defines the speed unit: 0: Um/min, 1: Um/sec.
maxposx	Long	Retentive	RW	Um	-999999÷999999	st_stillx=1	Maximum quota reached by the X axis Defines the maximum quota reached by the X axis: the set value is considered also as an upper limit for the introduction of quotas of program.
minposx	Long	Retentive	RW	Um	-999999÷999999	st_stillx=1	Minimum quota reached by the X axis Defines the minimum quota reached by the X axis: the set value is considered also as the lower limit for the introduction of quotas of program.
prsposx	Long	Retentive	RW	Um	minpos÷maxpos	st_stillx=1, st_prsonx=0	Homing offset X axis Represents the homing offset that is the distance between the location of home and location where ends the homing function for X axis.
maxvelx	Long	Retentive	RW	Uv	0÷999999	st_ipolar = 0, st_prsonx = 0, st_stillx = 1	Maximum speed X axis Defines the maximum speed of the X axis, or that is the speed assumed when the output voltage is ± 10V. The input value is measured in the units that are set using the unitvelx parameter.
prsvelx	Long	Retentive	RW	Uv	0÷maxvelx	st_stillx=1, st_prsonx=0	Speed for the search of the activation for X axis enable digital input Speed to search the digital input is activated by enabling. The input value is measured in the units that are set using the unitvel. parameter
sprsvelx	Long	Retentive	RW	Uv	0÷maxvelx	st_stillx=1, st_prsonx=0	Speed used for the search the X axis home position Defines the speed used to search up the location of home. This can be given by the input of zero of the bi-directional counter or from the disable of enable digital input (depends on the value of the prsmodex parameter). The input value is measured in the units that are set using the unitvelx parameter.
tollx	Long	Retentive	RW	Um	-999999÷999999	-	X axis tolerance Define a tolerance band around the positioning quotas. When the placement ends within this band then is placed to 1 the st_tollx state. Is there a time of check to ensure that the axis has assumed a stable position within the range. This time is expressed by the toldlyx parameter.
maxfollerrx	Long	Retentive	RW	Primary pulses	0÷2147483648	-	Maximum following error X for axis Defines the maximum acceptable deviation between the theoretical position and the current position of the X axis. It is used for the management of st_follerx.
mxrlvelx	Long	Retentive	RW	Uv	0÷maxvelx	-	Maximum speed X axis in interpolation In the case of placements with interpolation, defines the maximum speed reached by the X axis.
rampmodex	Byte	Retentive	RW	-	0÷1	-	Choice between acceleration ramps and deceleration for the X axis Used when choosing between equal acceleration and deceleration ramps (usage of taccdecx parameter) or differentiated (usage of two taccx and tdecx parameters). 0: equal ramp, 1: differentiated ramps. Note: if st_stillx=1 the writing is always enabled, otherwise the value is processed only if the new acceleration and deceleration time can reach the pre-set quota.
ramptypex	Byte	Retentive	RW	-	0÷3	st_stillx=1	Ramp type X axis Defines the ramp type to execute for X axis: 0: trapezoidal acceleration and deceleration, 1: acceleration and deceleration of epicycloidal type, 2: trapezoidal acceleration and epicycloidal deceleration type, 3: epicycloidal acceleration and trapezoidal deceleration. Description of epicycloidal motion The epicycloidal motion (ramptypex=1) is used to move the axes without sudden variations of speed. The time of positioning of an axis moved by trapezoidal ramps will be less, but the mechanical wear increases. For comparison shows the difference of the time of acceleration in the two cases with constant maximum gradient acceleration (deceleration ramp behavior is the same). Epicycloidal movement has the ability to behave in different ways in the event of a reduction in profile (rtypex) and in the case of stop during the acceleration ramp (stoptx).
taccdecx	Word	Retentive	RW	hundredths of a second	0÷999	st_ipolar = 0, st_prsonx = 0, st_stillx = 1	Acceleration and deceleration time X axis Is the time it takes to go from speed 0 to maximum speed (maxvelx) and vice versa; the parameter is used if rampmodex = 0. Change ramp time in motion When positioning can be varied acceleration and deceleration times. For example, the device can start a placement with a long ramp and, reach the target speed, is changed the deceleration time and executed a speed change with a very long ramp. For special applications and with trapezoidal ramps, the time can be changed even during a speed change, in this case, the new time is used immediately. Writing to acceleration and deceleration parameters is always enabled but the new value will be used only if the generator profile can reach the location set. Otherwise, the new value will be put into execution to the next positioning.
taccx	Word	Retentive	RW	hundredths of a second	0÷999	-	Acceleration time X axis Is the time to go from 0 speed to maximum speed. Is used when rampmodex=1. Moving ramp time change When positioning can be varied acceleration and deceleration times. For example, the device can start a placement with a very long ramp and, reach the target speed, is changed the deceleration time and execute a speed change gearbox with very long ramp ramp. For special applications and with trapezoidal ramps, the time can be changed even during a change in speed, in this case, the new time is used immediately. The writing to acceleration and deceleration parameters is always enabled but the new value will be used only if the generator listing can reach the location set. Otherwise, the new value will be put into execution the next positioning.
tdecx	Word	Retentive	RW	hundredths of a second	0÷999	-	Deceleration time X axis Is the time to go from maximum speed to 0 speed. Is used when rampmodex=1. Moving ramp time change When positioning can be varied acceleration and deceleration times. For example, the device can start a placement with a very long ramp and, reach the target speed, is changed the deceleration time and execute a speed change gearbox with very long ramp ramp. For special applications and with trapezoidal ramps, the time can be changed even during a change in speed, in this case, the new time is used immediately. The writing to acceleration and deceleration parameters is always enabled but the new value will be used only if the generator listing can reach the location set. Otherwise, the new value will be put into execution the next positioning.
rtypex	Byte	Retentive	RW	-	0÷1	ramptypex=1	Profile reduction type X axis This parameter indicates the behavior of the profile generator in the case of positioning with epicycloidal ramps in conditions of not reached of the constant speed. The behavior is: 0: the acceleration and deceleration times remain those already calculated and is decreased proportionally speed, 1: acceleration, deceleration times and the speed are decreased. With the rtypex = 0 parameter extend considerably the time needed to placements small. If the parameter is set to 1 you have a short time in case of short placements, but keeping the constant gradient you will lose the benefits of using an epicycloidal ramp.
stoptx	Byte	Retentive	RW	-	0÷1	ramptypex=1	Stop mode X axis In case you are using epicycloidal ramps and we should curb the X axis during acceleration ramp with the STOPX command you can choose whether to complete the ramp or interrupt. This option will change the stoptx parameter: 0: the acceleration ramp is completed, and then it starts the deceleration ramp, 1: the acceleration ramp stops and start the deceleration ramp of epicycloidal type.
tinvx	Word	Retentive	RW	hundredths of a second	0÷999	-	Late for reversing the direction of X axis Is a delay time introduced in the case of reversals of direction. Is used to avoid mechanical stress caused by too rapid reversals.
toldlyx	Word	Retentive	RW	hundredths of a second	0÷999	-	Tolerance signalling delay X axis Defines the time between the arrival of the axis in the tolerance range and its status report (st_tollx).
pgainx	Word	Retentive	RW	-	0÷32767	-	Proportional gain X axis Is the coefficient that allows you to change the amount of proportional in PID controller. Is placed in thousandths (therefore inserting 1000 the coefficient will be equal to 1).
feedfwx	Word	Retentive	RW	-	0÷32767	-	Coefficient of feed forward X axis Is the percentage coefficient that, multiplied by the theoretical speed, raises the portion of feed forward control output. The value is entered in tenths (therefore inserting 1000 the percentage will be 100.0%).
integtx	Word	Retentive	RW	milliseconds	0÷32767	-	Integration time of following error X axis Is the parameter that allows you to change the scale of the action integral PID controller PID.
derivtx	Word	Retentive	RW	milliseconds	0÷32767	-	Time for calculation of derivative coefficient of the following error X axis Is the parameter that allows you to change the amount of derivative action in PID controller.
prsmodex	Byte	Retentive	RW	-	0÷2	st_ipolar = 0, st_prsonx=0, st_stillx=1	Search mode of home position X axis Select the search mode of the home position. Possible values are: 0: without zero input of bi-directional counter, 1: with zero input of bi-directional counter, 2: homing in current location without moving.
prsdirx	Byte	Retentive	RW	-	0÷1	st_prsonx=0	Direction of movement for seeking the home position X axis Defines the direction of the first movement when searching the home position: 0: forward direction, 1: backward direction.
offsetx	Word	Retentive	RW	bit	-32768÷32767	-	Analog output offset X axis Defines the value in bits of the correction concerning the analogue output to compensate for any drift in the system.
setposx	Long	Retentive	RW	Um	minposx÷maxposx	-	Positioning quota X axis Defines the quota of positioning to achieve the setvelx speed. Setposx change in motion In some applications you are prompted to define the target quota during the placement, based on certain events. This means you can write in the setposx parameter even with ongoing positioning. Changing the quota is accepted only if the new location is accessible by the current direction of movement. In the case of using epicycloidal dimension change ramps is not accepted if st_decx=1 (if the axis is decelerating).
setvelx	Long	Retentive	RW	Uv	0÷maxvelx	-	X axis positioning speed Sets the value of the positioning speed. Setvelx change in motion When positioning the axis speed can be changed without affecting the location to reach. This operation can also be done in several places of the same positioning simply by changing the setvelx parameter. The speed change is always available except during the deceleration ramp reported by a specific state (st_decx = 1). Attention: the value is altered if you tell a homing with search function prsmodex = 0 or 1
voutx	Byte	0	RW	tenths of a Volt	-100÷100	st_init=1, st_calx=1, st_emrgx = 0	Output voltage X axis Typically indicates the voltage value provided by analog output, during the calibration phase can be modified to set a fixed value at exit.
velx	Long	0	R	Uv	0÷maxvelx	-	X axis speed Is the value of the instantaneous speed of X axis. The update is executed every 250 ms. The speed unit depends on the unitvelx and decptx parameters.
frqx	Long	0	RW	Hz	-	-	Input signal frequency X axis It's the frequency value of the input signals on the bi-directional counter. The update is executed every 250 ms.
posit	Long	Retentive	RW	Um	minpos÷maxpos	st_init=1	Current position in units of measurement Is the value of the instantaneous position of the axis. positx = encoderx * measurex / pulsex Change current location in motion When positioning you can change the value of the current positx position. This function is usually used when a device must, under special conditions, continue a speed profile for a very long time, that exceeds the time axis takes to reach the quota limit (maxposx or minposx).
encoderx	Long	Retentive	RW	Primary pulses	st_init=1	-	Current position X axis in primary pulses Expresses the current position in the primary pulses.
follerrx	Long	0	R	Primary pulses	-	-	X axis following error It's the instantaneous value of the following error.
ffwdregx	Long	0	R	bit	-	-	Output value feed forward X axis It's the instantaneous value of the feed forward output in PID controller.
propregx	Long	0	R	bit	-	-	Proportional output value X axis It's the instantaneous value of the proportional output in PID controller.
intregx	Long	0	R	bit	-	-	Integral output value X axis It's the instantaneous value of the integral PID controller output.
derregx	Long	0	R	bit	-	-	Derivative output value X axis Is the instantaneous value of the derivative in PID controller output.
deltax	Long	0	RW	Um	-999999÷999999	-	Variation of the current position of the X axis to use the DELCNT command Is the value that is added to your current position when a DELCNTX command is sent.
errcodex	Byte	0	R	-	0÷100	-	Error identification code X axis Indicates the type of error intervened in the system. When st_errorx = 1 is present on the errcodex variable and the type of error intervened in the errvaluex variable is an indication of the cause of the error. If the device goes wrong, to start work you have to clear the st_errorx status through the RSERRX command.
errvaluex	Byte	0	R	-	0÷100	-	Identifying code of the cause of the error X axis Indicates the cause of the error in the system. The code is valid only if st_error = 1.
wrncodex	Byte	0	R	-	0÷100	-	Identification code warning X axis Indicates the type of warning in the system. The st_warningx state indicates a minor event that guarantees the operation of the device. When st_warningx is equal to 1, it's present on the wrncodex variable the type of warning intervened and in the wrnvaluex variable an indication as to the cause of the warning. To clear the st_warningx status must be send the RSWRNX command.
wrnvaluex	Byte	0	R	-	0÷100	-	Identification code of the cause of the warning X axis Indicates the cause of the warning in the system.

ATTENTION: The last letter of the name of the variable takes the value of the axis name.

See section X axis parameters

See section X axis parameters

ATTENZIONE: L'ultima lettera del nome della variabile, prende il valore del nome dell'asse.

Vedi paragrafo Stati Asse X

Vedi paragrafo Stati Asse X

ATTENZIONE: L'ultima lettera del nome della variabile, prende il valore del nome dell'asse.

Vedi paragrafo Comandi asse X.

Vedi paragrafo Comandi asse X.